version: 66.13
glider: 196
mission: 14
dive: 338
start: 9 15 117 1 15 13
data:
$ID,196
$MISSION,14
$DIVE,338
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,480
$D_ABORT,650
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,160
$T_MISSION,195
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,55566
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0103
$HD_C,1.06e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,702.78448
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3950
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3365
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.29706
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,135
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043055275
$SEABIRD_T_H,0.00061896152
$SEABIRD_T_I,2.1649632e-05
$SEABIRD_T_J,2.1628491e-06
$SEABIRD_C_G,-9.8804169
$SEABIRD_C_H,1.1388741
$SEABIRD_C_I,-0.0017082796
$SEABIRD_C_J,0.00021409935
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$CP_RECORDABOVE,1000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,942.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,150917,010132,7455.6016,-15101.8037,22,0.8,22,20.7,0.0,0.0,10,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.8
$GPS2,150917,011439,7455.5752,-15101.7109,7,0.7,10,20.7,0.0,0.0,11,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,119.6,22331,-17.9,-10.000,-21.31,2227
$D_GRID,480
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,196,2218,496,490,0.0,0.0,0,144,0.00,0.00,-91.35,0.000,16386,0.000,0.000,195,2218,2130,2054,2207,0,0,0,0,0,0,14.49,28.83,14.50
$GC,148,-0.57,-145.9,197,2218,2057,2207,3.8,-4.9,9,205,12.82,2.83,-35.92,0.000,18724,0.451,2.153,2377,3614,3966,3952,3980,0,0,0,0,0,0,13.52,12.59,14.05
$GC,395,-0.71,-145.9,2377,3615,3957,3981,49.1,-13.0,58,401,0.00,2.45,0.00,0.000,1158,0.000,0.055,2376,2190,3968,3957,3980,0,0,0,0,0,0,14.11,14.00,14.15
$GC,701,-0.85,-145.9,2377,2191,3960,3981,82.5,-8.7,89,706,0.20,2.50,0.00,0.000,4516,0.103,0.085,2291,3609,3969,3959,3980,0,0,0,0,0,0,14.16,14.05,14.20
$GC,824,-0.96,-145.9,2292,3610,3959,3978,98.2,-12.2,113,829,0.00,2.42,0.00,0.000,1158,0.000,0.058,2291,2194,3968,3958,3979,0,0,0,0,0,0,14.30,14.15,14.32
$GC,1144,-1.01,-145.9,2291,2194,3959,3981,141.4,-12.8,126,1149,0.12,2.50,0.00,0.000,4484,0.142,0.084,2236,3604,3971,3962,3980,0,0,0,0,0,0,14.27,14.10,14.31
$GC,1215,-1.05,-145.9,2236,3606,3960,3980,152.1,-14.9,140,1220,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2196,3969,3958,3980,0,0,0,0,0,0,14.15,14.02,14.19
$GC,1536,-1.02,-145.9,2236,2195,3960,3979,207.8,-17.3,154,1541,0.00,2.50,0.00,0.000,388,0.000,0.087,2236,3604,3969,3958,3980,0,0,0,0,0,0,14.59,14.08,14.62
$GC,1631,-1.10,-145.9,2236,3605,3960,3981,222.3,-13.7,173,1636,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2200,3972,3958,3986,0,0,0,0,0,0,14.23,14.12,14.26
$GC,1956,-1.10,-145.9,2236,2199,3959,3980,271.8,-14.6,188,1962,0.00,2.47,0.00,0.000,516,0.000,0.083,2235,784,3969,3958,3980,0,0,0,0,0,0,14.63,14.09,14.64
$GC,2002,-1.16,-145.9,2236,786,3957,3982,278.2,-13.2,197,2007,0.00,2.47,0.00,0.000,1158,0.000,0.086,2235,2190,3969,3959,3980,0,0,0,0,0,0,14.26,14.11,14.34
$GC,2318,-1.19,-145.9,2236,2192,3960,3980,316.7,-11.6,210,2323,0.12,2.53,0.00,0.000,4484,0.150,0.086,2176,3614,3968,3958,3979,0,0,0,0,0,0,14.25,14.01,14.28
$GC,2463,-1.16,-145.9,2177,3616,3960,3980,339.6,-15.6,239,2470,0.12,2.42,0.00,0.000,3206,0.249,0.057,2199,2196,3969,3958,3980,0,0,0,0,0,0,13.77,14.07,14.02
$GC,2768,-1.16,-145.9,2200,2197,3959,3980,382.0,-13.5,250,2773,0.00,2.53,0.00,0.000,260,0.000,0.087,2196,3614,3969,3958,3980,0,0,0,0,0,0,14.62,14.02,14.64
$GC,2853,-1.21,-145.9,2196,3615,3958,3980,393.0,-12.3,267,2859,0.00,2.42,0.00,0.000,1158,0.000,0.056,2196,2192,3970,3958,3982,0,0,0,0,0,0,14.15,14.02,14.19
$GC,3159,-1.21,-145.9,2196,2194,3959,3980,433.3,-13.4,278,3163,0.00,2.53,0.00,0.000,260,0.000,0.086,2187,3617,3967,3955,3979,0,0,0,0,0,0,14.64,14.08,14.66
$GC,3249,-1.25,-145.9,2188,3618,3957,3980,445.3,-12.6,296,3254,0.00,2.42,0.00,0.000,1158,0.000,0.055,2187,2192,3967,3955,3979,0,0,0,0,0,0,14.23,14.09,14.28
$STATE,3517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3517,begin apogee
$GC,3523,-0.13,0.0,2188,2064,3958,3980,483.2,-14.1,310,3746,1.38,0.08,218.95,1.440,10246,0.236,0.179,2529,2115,3367,3382,3352,0,0,0,0,0,0,13.78,13.50,12.66
$STATE,3750,end apogee,CONTROL_FINISHED_OK
$STATE,3750,begin climb
$GC,3754,0.57,145.9,2530,2116,3379,3345,495.5,0.0,317,3980,0.75,1.95,211.27,1.380,10756,0.060,0.080,2792,729,2763,2797,2730,0,0,0,0,0,0,13.71,13.12,12.24
$GC,4206,0.15,145.9,2793,729,2790,2728,480.1,13.7,364,4213,0.75,2.42,0.00,0.000,5254,0.325,0.074,2639,2094,2758,2789,2727,0,0,0,0,0,0,13.40,13.81,13.83
$GC,4511,0.00,177.1,2637,2095,2789,2723,453.3,8.6,375,4562,0.20,2.42,44.25,1.460,12964,0.269,0.082,2589,729,2638,2682,2594,0,0,0,0,0,0,13.78,13.74,13.09
$GC,4737,0.04,237.4,2590,727,2680,2588,437.0,7.2,420,4832,0.00,2.40,89.95,1.383,9254,0.000,0.080,2589,2099,2397,2451,2343,0,0,0,0,0,0,14.26,14.12,12.99
$GC,5143,0.06,266.7,2589,2100,2440,2327,402.8,8.6,451,5186,0.00,0.00,42.33,1.424,8230,0.000,0.000,2588,2099,2278,2329,2227,0,0,0,0,0,0,14.51,13.99,13.15
$GC,5473,0.13,295.9,2590,2099,2322,2213,373.9,8.6,462,5523,0.10,2.42,44.12,1.408,10916,0.151,0.085,2644,732,2154,2201,2107,0,0,0,0,0,0,14.29,13.79,13.16
$GC,5578,0.13,295.9,2644,732,2194,2106,361.9,11.4,483,5583,0.00,2.42,0.00,0.000,1030,0.000,0.077,2644,2098,2149,2193,2105,0,0,0,0,0,0,14.25,14.09,14.25
$GC,5894,0.10,295.9,2644,2100,2193,2099,323.3,12.1,496,5900,0.12,2.40,0.00,0.000,4740,0.241,0.082,2616,727,2144,2192,2097,0,0,0,0,0,0,14.05,14.17,14.17
$GC,5955,0.17,314.7,2616,727,2191,2100,317.2,9.1,508,5987,0.00,2.40,26.05,1.435,9382,0.000,0.076,2616,2111,2081,2127,2036,0,0,0,0,0,0,14.33,14.20,13.24
$GC,6287,0.24,340.5,2616,2111,2123,2028,287.1,8.8,524,6335,0.12,2.47,42.08,1.376,10916,0.124,0.088,2683,723,1971,2014,1929,0,0,0,0,0,0,14.32,14.09,13.20
$GC,6368,0.20,340.5,2687,723,2009,1930,277.5,12.1,540,6374,0.15,2.42,0.00,0.000,5254,0.234,0.078,2651,2100,1967,2006,1928,0,0,0,0,0,0,13.95,14.12,14.20
$GC,6679,0.21,348.7,2651,2100,2009,1919,245.9,9.6,552,6694,0.00,2.40,8.95,1.600,8740,0.000,0.087,2654,735,1941,1983,1899,0,0,0,0,0,0,14.59,14.17,13.22
$GC,6825,0.29,379.2,2654,735,1979,1900,233.1,8.6,581,6885,0.00,2.40,51.83,1.343,9382,0.000,0.078,2654,2107,1815,1841,1790,0,0,0,0,0,0,14.28,14.15,13.23
$GC,7193,0.38,414.4,2655,2109,1834,1782,201.3,8.4,604,7258,0.12,2.53,59.38,1.294,10916,0.129,0.088,2716,733,1675,1701,1649,0,0,0,0,0,0,14.28,14.02,13.19
$GC,7373,0.38,414.4,2716,733,1686,1648,179.6,11.8,640,7379,0.00,2.40,0.00,0.000,1030,0.000,0.076,2716,2100,1665,1685,1645,0,0,0,0,0,0,14.26,14.12,14.28
$GC,7704,0.38,414.4,2717,2101,1686,1639,139.6,12.1,656,7710,0.00,2.42,0.00,0.000,516,0.000,0.088,2716,724,1662,1685,1639,0,0,0,0,0,0,14.61,14.00,14.64
$GC,7775,0.42,414.4,2716,725,1684,1640,131.4,11.1,670,7780,0.00,2.40,0.00,0.000,1158,0.000,0.076,2716,2100,1661,1684,1639,0,0,0,0,0,0,14.33,14.19,14.38
$GC,8086,0.42,414.4,2717,2100,1685,1637,96.5,10.9,685,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2100,1660,1684,1637,0,0,0,0,0,0,14.61,14.62,14.62
$GC,8388,0.46,444.7,2714,2098,1686,1635,68.3,8.6,715,8409,0.00,2.47,15.30,0.405,8612,0.000,0.082,2716,3510,1550,1576,1524,0,0,0,0,0,0,14.57,13.88,13.59
$GC,8525,0.54,486.5,2717,3510,1577,1524,56.1,8.1,742,8553,0.12,2.35,23.23,0.369,11430,0.116,0.061,2770,2138,1379,1415,1343,0,0,0,0,0,0,13.97,13.92,13.65
$GC,8850,0.60,581.7,2771,2138,1416,1338,33.9,5.6,777,8907,0.00,2.58,51.35,0.310,8740,0.000,0.088,2771,691,991,1055,928,0,0,0,0,0,0,14.54,13.87,13.65
$GC,8948,0.78,644.3,2772,692,1056,928,27.5,7.1,793,8991,0.20,2.50,34.78,0.285,11430,0.100,0.077,2854,2108,734,795,674,0,0,0,0,0,0,14.10,14.04,13.75
$STATE,9204,end climb,SURFACE_DEPTH_REACHED
$STATE,9204,begin surface coast
$FINISH,0.2,1.021317
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9290,32.38,0.210,0,0,499,703.03
$SM_GC,1.39,8.27,0.17,32.38,0.083,0.116,0.210,200,2230,499,-7.38,-0.34,703.03,0,0,0,0,0,0,14.29,14.29,13.90
$RAFOS_CLK,422
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7455.84,-15105.56,150917,010615
$TT8_MAMPS,0.039697,0.874832
$HUMID,47.28
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,15
$CP_FREE,0.000000
$PM_FREEKB_00,46974720
$24V_AH,12.24,206.398
$10V_AH,12.09,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.700,88.400,963.800,32.375,0.000,0.000,0.000,442.050,3.750,0.000,10.983,0.000,6550.526,880.197,2346.968,344.855,0.000,2238.193,0.000,1181.429,0.000,0.540,0.000
$DEVICE_MAMPS,450.585,2152.710,1600.380,209.610,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9258.000,9264.000,9242.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.600,20.000,12.709,0.000
$MEM,323280
$DATA_FILE_SIZE,30031,825
$CAP_FILE_SIZE,106158,0
$CFSIZE,2097872896,1991344128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.070,221.52,1
$GPS,150917,035156,7454.116,-15100.948,34,0.7,34,20.7,0.0,0.0,11,7.9